非線形MPCにおける自動車障害物回避のためのFrenet-直交座標系表現
Frenet-Cartesian Model Representations for Automotive Obstacle Avoidance within Nonlinear MPC
自動運転の経路計画・制御のための非線形モデル予測制御(NMPC)において、直交座標系とFrenet座標系を単一の非線形計画問題内で併用する定式化を提案し、障害物回避制約やコストの表現を比較検証した。
著者: Rudolf Reiter, Armin Nurkanović, Jonathan Frey, Moritz Diehl
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
In recent years, nonlinear model predictive control (NMPC) has been extensively used for solving automotive motion control and planning tasks. In order to formulate the NMPC problem, different coordinate systems can be used with different advantages. We propose and compare formulations for the NMPC related optimization problem, involving a Cartesian and a Frenet coordinate frame (CCF/ FCF) in a single nonlinear program (NLP). We specify costs and collision avoidance constraints in the more advantageous coordinate frame, derive appropriate formulations and compare different obstacle constraints. With this approach, we exploit the simpler formulation of opponent vehicle constraints in the CCF, as well as road aligned costs and constraints related to the FCF. Comparisons to other approaches in a simulation framework highlight the advantages of the proposed approaches.
